Design and Control of a Quasi-direct Drive Actuated Knee Exoskeleton

作     者：Yi Long Yajun Peng Yi Long;Yajun Peng

作者机构：Foshan Graduate School of Northeastern UniversityFoshan528000China Faculty of Robot Science and EngineeringNortheastern UniversityShenyang110000China Zhongshan Walkbest Intelligent Medical Device Co.LtdZhongshan528400China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2022年第19卷第3期

页      面：678-687页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 0402[教育学-心理学(可授教育学、理学学位）] 1004[医学-公共卫生与预防医学(可授医学、理学学位)] 1002[医学-临床医学] 08[工学] 0811[工学-控制科学与工程] 10[医学] 

基　　金：We are grateful to the Natural Science Foundation of Guangdong Province(2020A1515110121) the Fundamental Research Funds for the Central Universities(N2129002)for all support provided to realize this project 

主　　题：Exoskeleton Knee dysfunction Quasi-direct drive Active disturbance rejection control Gait generation 

摘      要：This paper describes the design and control of a portable and lightweight knee exoskeleton for people with knee *** knee exoskeleton is designed based on our custom quasi-direct drive actuation composed of a DC motor unit and a transmission mechanism encompassing three *** online gait generation method based on gait step calculation and direct measurement using Inertial Measurement Unit(IMU)sensors is proposed to provide continuous assistance during *** on the generated gait trajectory online,Active Disturbance Rejection Control(ADRC)incorporating the feedforward compensation approach is proposed to help the human leg move in consideration of external *** developed knee exoskeleton has been employed successfully to assist impaired users with knee dysfunction to walk in a health recovery *** experimental results indicate that the online gait generation method and the proposed control method are suitable for the knee *** maximum value of the target knee angular position is approximately 50°and the mean of the control torque for the knee joint is located in the interval of[−2 Nm,4 Nm].The developed knee exoskeleton has the potential to regain normal gait to improve strength and endurance during walking in their activities of daily life.